He was dismissed from the House of Commons in 1652 over a scandal involving his maidservant. This may have been engineered by Thomas Harrison and other political opponents.

Like all of the other 59 men who signed the death warrant for Charles I, Clement was in grave danger when Charles II of England was restored to the throne. Some of the 59 fled England but Clement was arrested, put on trial, and found guilty of high treason. He was hanged, drawn and quartered at Charing Cross on 17 October 1660.

According to Mark Twain's autobiography, an irate Virginian correspondent called him a descendant of a regicide (apparently referring to Gregory Clement) and berated him for supporting the–as he called it–aristocratic Republican Party.[2]